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Add <dcmotor> actuator and related docs and tests.

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PiperOrigin-RevId: 892927987
Change-Id: I38ed6412801341ba03ddf5fe7b93a6081df24d37
This commit is contained in:
Yuval Tassa
2026-04-01 07:49:53 -07:00
committed by Copybara-Service
parent 6da210c794
commit 70a7647ad9
31 changed files with 3994 additions and 55 deletions
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doc/XMLschema.rst
+168
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@@ -2984,6 +2984,105 @@
:ref:`gain<actuator-adhesion-gain>`
.. dropdown:: :ref:`dcmotor<actuator-dcmotor>` |*|
.. grid:: 2 3 4 4
:gutter: 0
.. grid-item::
:ref:`name<actuator-dcmotor-name>`
.. grid-item::
:ref:`class<actuator-dcmotor-class>`
.. grid-item::
:ref:`group<actuator-dcmotor-group>`
.. grid-item::
:ref:`nsample<actuator-dcmotor-nsample>`
.. grid-item::
:ref:`interp<actuator-dcmotor-interp>`
.. grid-item::
:ref:`delay<actuator-dcmotor-delay>`
.. grid-item::
:ref:`ctrllimited<actuator-dcmotor-ctrllimited>`
.. grid-item::
:ref:`ctrlrange<actuator-dcmotor-ctrlrange>`
.. grid-item::
:ref:`lengthrange<actuator-dcmotor-lengthrange>`
.. grid-item::
:ref:`gear<actuator-dcmotor-gear>`
.. grid-item::
:ref:`damping<actuator-dcmotor-damping>`
.. grid-item::
:ref:`armature<actuator-dcmotor-armature>`
.. grid-item::
:ref:`cranklength<actuator-dcmotor-cranklength>`
.. grid-item::
:ref:`user<actuator-dcmotor-user>`
.. grid-item::
:ref:`joint<actuator-dcmotor-joint>`
.. grid-item::
:ref:`jointinparent<actuator-dcmotor-jointinparent>`
.. grid-item::
:ref:`tendon<actuator-dcmotor-tendon>`
.. grid-item::
:ref:`slidersite<actuator-dcmotor-slidersite>`
.. grid-item::
:ref:`cranksite<actuator-dcmotor-cranksite>`
.. grid-item::
:ref:`site<actuator-dcmotor-site>`
.. grid-item::
:ref:`refsite<actuator-dcmotor-refsite>`
.. grid-item::
:ref:`motorconst<actuator-dcmotor-motorconst>`
.. grid-item::
:ref:`resistance<actuator-dcmotor-resistance>`
.. grid-item::
:ref:`nominal<actuator-dcmotor-nominal>`
.. grid-item::
:ref:`saturation<actuator-dcmotor-saturation>`
.. grid-item::
:ref:`inductance<actuator-dcmotor-inductance>`
.. grid-item::
:ref:`cogging<actuator-dcmotor-cogging>`
.. grid-item::
:ref:`controller<actuator-dcmotor-controller>`
.. grid-item::
:ref:`thermal<actuator-dcmotor-thermal>`
.. grid-item::
:ref:`lugre<actuator-dcmotor-lugre>`
.. grid-item::
:ref:`input<actuator-dcmotor-input>`
.. dropdown:: :ref:`plugin<actuator-plugin>` |*|
.. grid:: 2 3 4 4
@@ -6146,6 +6245,75 @@
:ref:`delay<default-adhesion-delay>`
.. dropdown:: :ref:`dcmotor<default-dcmotor>` :octicon:`dot`
.. grid:: 2 3 4 4
:gutter: 0
.. grid-item::
:ref:`ctrllimited<default-dcmotor-ctrllimited>`
.. grid-item::
:ref:`ctrlrange<default-dcmotor-ctrlrange>`
.. grid-item::
:ref:`gear<default-dcmotor-gear>`
.. grid-item::
:ref:`damping<default-dcmotor-damping>`
.. grid-item::
:ref:`armature<default-dcmotor-armature>`
.. grid-item::
:ref:`cranklength<default-dcmotor-cranklength>`
.. grid-item::
:ref:`user<default-dcmotor-user>`
.. grid-item::
:ref:`group<default-dcmotor-group>`
.. grid-item::
:ref:`nsample<default-dcmotor-nsample>`
.. grid-item::
:ref:`interp<default-dcmotor-interp>`
.. grid-item::
:ref:`delay<default-dcmotor-delay>`
.. grid-item::
:ref:`motorconst<default-dcmotor-motorconst>`
.. grid-item::
:ref:`resistance<default-dcmotor-resistance>`
.. grid-item::
:ref:`nominal<default-dcmotor-nominal>`
.. grid-item::
:ref:`saturation<default-dcmotor-saturation>`
.. grid-item::
:ref:`inductance<default-dcmotor-inductance>`
.. grid-item::
:ref:`cogging<default-dcmotor-cogging>`
.. grid-item::
:ref:`controller<default-dcmotor-controller>`
.. grid-item::
:ref:`input<default-dcmotor-input>`
.. grid-item::
:ref:`thermal<default-dcmotor-thermal>`
.. grid-item::
:ref:`lugre<default-dcmotor-lugre>`
.. dropdown:: :ref:`custom<custom>` |*|